共查询到18条相似文献，搜索用时 46 毫秒
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针对一类具有任意切换规则的分数阶线性时滞切换系统,利用λ范数研究了 PDα型分数阶迭代学习控制算法(FOILC)的收敛性,分析了在其控制下系统的跟踪性能,并对算法收敛的充分条件进行了严格的数学证明.理论分析表明,对于有限时间域内可任意切换的分数阶线性时滞切换系统,如果选取适当的学习增益矩阵和系统参数矩阵,随着迭代次数的... 相似文献
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本文提出了一类高相对阶线性连续时间系统的间接迭代学习控制算法,该算法相对独立于系统局部控制器,因此可以应用于已有局部反馈控制器的系统.采用具有极点配置的H∞鲁棒控制器作为系统的内环控制,而在外环通过迭代学习控制调整内环系统的指令信号.通过引入拉氏变化,构建了迭代学习系统的2-D Roesser模型,推导了系统渐近收敛条件,并研究了存在有界初始条件偏移和迭代变化外部干扰时算法的鲁棒性能.最后,利用空中加油对接控制的算例进一步验证了算法的有效性. 相似文献
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针对一类不确定线性分布参数系统的迭代学习控制问题进行了讨论。基于向量图分析方法,提出了分布参数系统的一种新的迭代学习控制算法,该算法与现有算法不同,具有非线性形式。此外,利用 范数对所提新算法进行了完整的收敛性分析。 相似文献
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本文根据误差收敛准则,提出了连续非线性系统的迭代学习控制算法,给出了ＰＩＤ型学习控制算法的收效条件,实际应用表明,该方法可以逼近预定的任意轨线。 相似文献
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针对一类非正则分布参数系统的迭代学习控制问题进行讨论, 该类分布参数系统由抛物型偏微分方程构成. 基于非正则系统的特点, 使用D型学习律构建得到迭代学习控制律, 并基于压缩映射原理, 证明得到输出跟踪误差在??2 范数意义下沿迭代轴方向的收敛性结论. 仿真算例表明了所提出结论的有效性.
相似文献11.
This paper proposes two kinds of iterative learning control (ILC) schemes for a class of the distributed parameter systems based on sensor–actuator networks which can be described by hyperbolic partial differential equations. A D-type ILC algorithm is first considered and the convergent condition of the output error is obtained via the contraction mapping methodology. Then, the PD-type ILC algorithm is considered in this hyperbolic distributed parameter systems based on sensor–actuator networks. Finally, a cable equation with air and structural damping is given to illustrate the effectiveness of the proposed methods. 相似文献
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This study is concerned with the integrated system of a robot and a machine tool. The major task of robot is loading the workpiece to the machine tool for contour cutting. An iterative learning control (ILC) algorithm is proposed to improve the accuracy of the finished product. The proposed ILC is to modify the input command of the next machining cycle for both robot and machine tool to iteratively enhance the output accuracy of the robot and machine tool. The modified command is computed based on the current tracking/contour error. For the ILC of the robot, tracking error is considered as the control objective to reduce the tracking error of motion path, in particular, the error at the endpoint. Meanwhile, for the ILC of the machine tool, contour error is considered as the control objective to improve the contouring accuracy, which determines the quality of machining. In view of the complicated contour error model, the equivalent contour error instead of the actual contour error is taken as the control objective in this study. One challenge for the integrated system is that there exists an initial state error for the machine tool dynamics, violating the basic assumption of ILC. It will be shown in this study that the effects of initial state error can be significantly reduced by the ILC of the robot. The proposed ILC algorithm is verified experimentally on an integrated system of commercial robot and machine tool. The experimental results show that the proposed ILC can achieve more than 90% of reduction on both the RMS tracking error of the robot and the RMS contour error of the machine tool within six learning iterations. The results clearly validate the effectiveness of the proposed ILC for the integrated system. 相似文献
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For a class of fractional‐order linear continuous‐time switched systems specified by an arbitrary switching rule, this paper proposes a PDα‐type fractional‐order iterative learning control algorithm. For systems disturbed by bounded measurement noise, the robustness of PDα‐type algorithm is first discussed in the iteration domain and the tracking performance is analyzed. Next, a sufficient condition for monotone convergence of the algorithm is studied when external noise is absent. The results of analysis and simulation illustrate the feasibility and effectiveness of the proposed control algorithm. 相似文献
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D.H. Owens 《International journal of control》2013,86(8):1010-1025
This article investigates the two paradigms of norm optimal iterative learning control (NOILC) and parameter optimal iterative learning control (POILC) for multivariable (MIMO) ?-input, m-output linear discrete-time systems. The main result is a proof that, despite their algebraic and conceptual differences, they can be unified using linear quadratic multi-parameter optimisation techniques. In particular, whilst POILC has been naturally regarded as an approximation to NOILC, it is shown that the NOILC control law can be generated from a suitable choice of control law parameterisation and objective function in a multi-parameter MIMO POILC problem. The form of this equivalence is used to propose a new general approach to the construction of POILC problems for MIMO systems that approximates the solution of a given NOILC problem. An infinite number of such approximations exist. This great diversity is illustrated by the derivation of new convergent algorithms based on time interval and gradient partition that extend previously published work. 相似文献
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Prediction-based Iterative Learning Control (PILC) is proposed in this paper for a class of time varying nonlinear uncertain systems. Convergence of PILC is analyzed and the uniform boundedness of tracking error is obtained in the presence of uncertainty and disturbances. It is shown that the learning algorithm not only guarantees the robustness, but also improves the learning rate despite the presence of disturbances and slowly varying desired trajectories in succeeding iterations. The effectiveness of the proposed PILC is presented by simulations. 相似文献
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Control of a pneumatic power active lower-limb orthosis with filter-based iterative learning control
Chia-En Huang 《International journal of systems science》2014,45(5):915-934
A filter-based iterative learning control (FILC) scheme is developed in this paper, which consists in a proportional–derivative (PD) feedback controller and a feedforward filter. Moreover, based on two-dimensional system theory, the stability of the FILC system is proven. The design criteria for a wavelet transform filter (WTF) – chosen as the feedforward filter – and the PD feedback controller are also given. Finally, using a pneumatic power active lower-limb orthosis (PPALO) as the controlled plant, the wavelet-based iterative learning control (WILC) implementation and the orchestration of a trajectory tracking control simulation are given in detail and the overall tracking performance is validated. 相似文献